Earlier quoted context omitted.
It may be unintentional on your part but your post seems to suggest that rms argued that adults raping children was acceptable. If that was intentional the you are lying. If it was not intentional the it's ironic that you are so sloppy and cavalier in your wording on a topic which is all about precision in language. Please stop.
He did argue that adults raping children was acceptable, many times over the course of years. There's quotes in this thread. Any sex between adults and minors is rape, that's what the concept of statutory rape means. He has expressed that those interactions could be mitigated by "willing" and "voluntary" actions by the children, and that in those situations there's no real harm done. That's literally what he said. He…
You seem to classify statutory rape as a subcategory of "rape", and thus I am assuming you would be perfectly content calling anyone convicted of statutory rape a rapist. This is semantically unhelpful. "Rape" is widely understood to mean violent rape, and statutory rape is legally (and to most people, morally) the lesser crime.
There may be cases where even you might find it desirable to make a distinction in language between someone advocating for "violent rape is ok", and someone arguing for example that the existing age of consent in their country should not be increased, which requires acknowledging that the two are really distinct things.